% Sample time (20kHz)
Ts=1/20000;

% Enviro
Vdc = 24;

% Motor: Aerodrive SK3-4250-410KV
PolePairs = 7;
Rs=0.0276; % LVL10 FIT
%Rs=0.0186; % U/I Measured
Ls=9.688e-6;
Kv=410;

% Encoder
EncoSlits = 500;
CalibratedAngle = 0; % encoder pulses from direct axis (A, 0deg) and index pulse! % Anheim
 
% Load
Jadd = 0.0;
%Jadd = 0.00003;

% Controllers
Kpcurr = 0.25;
Kicurr = 600;
Kpspeed = 0.0003;
Kispeed = 0;